Apparatuses and methods for handling pills within pharmaceutical dispensing devices

ABSTRACT

A method of dispensing medication from a plurality of medication containers, using a dispensing system for collecting a medication dosage from a medication container including: receiving a medication selection; selecting a medication container, from the plurality of medication containers, based on the medication selection; matching a collection protocol to be applied to the medication container including one or more parameter for control of the dispensing system; and dispensing the medication selection from the medication container according to the collection protocol.

RELATED APPLICATIONS

This application is a Continuation of U.S. patent application Ser. No.16/737,943 filed on Jan. 9, 2020, which is a Continuation-in-Part (CIP)of U.S. patent application Ser. No. 16/430,456 filed on Jun. 4, 2019,now U.S. Pat. No. 10,964,154. The contents of the above applications areall incorporated by reference as if fully set forth herein in theirentirety.

This application is also related to:

U.S. patent application Ser. No. 16/379,831 filed on Apr. 10, 2019,

U.S. patent application Ser. No. 16/379,835 filed on Apr. 10, 2019, and

U.S. patent application Ser. No. 16/559,716 filed on Sep. 4, 2019.

The contents of the above applications are all incorporated by referenceas if fully set forth herein in their entirety.

FIELD AND BACKGROUND OF THE INVENTION

The present invention, in some embodiments thereof, relates to handlingpills within a pharmaceutical dispensing device and, more particularly,but not exclusively, to extraction of pills from medication containers.

SUMMARY OF THE INVENTION

Following are examples of some embodiments of the invention. Features ofone example may be combined with features of one or more other examples,unless expressly prohibited and form additional examples of someembodiments of the invention.

Example 1. A method of dispensing medication from a plurality ofmedication containers, using a dispensing system for collecting amedication dosage from a medication container comprising:

receiving a medication selection;

selecting a medication container, from said plurality of medicationcontainers, based on said medication selection;

matching a collection protocol to be applied to said medicationcontainer including one or more parameter for control of said dispensingsystem; and

dispensing said medication selection from said medication containeraccording to said collection protocol.

Example 2. The method of Example 1, wherein said dispensing systemcomprises a probe, said method comprising: inserting said probe intosaid selected medication container; and collecting said medicationselection with said probe.

Example 3. The method of Example 2, wherein said collecting comprisesapplying suction, according to said collection protocol.

Example 4. The method of Example 3, wherein said inserting comprisesinserting said probe to an initial depth at an initial position, saidinitial depth and said initial position according to said collectionprotocol.

Example 5. The method of Example 4, wherein said collection protocolincludes one more of:

one or more parameter based on medication data associated with saidmedication selection; and

one or more parameter based on medication container data.

Example 6. The method of Example 5, wherein said medication datacomprises a weight of a pill of said medication selection;

wherein said collection protocol comprises a suction parameter based onsaid weight.

Example 7. The method of Example 5, wherein said medication datacomprises a least one dimension of a pill of medication selection; and

wherein said collection protocol comprises a movement parameter based onat least one dimension.

Example 8. The method of Example 5, wherein said medication containerdata comprises at least one position within the container, of apreviously successful pill extraction;

wherein said initial position is based on said at least one position.

Example 9. The method of Example 5, comprising receiving a measurementsignal; and

determining a quality of coupling of a pill to said probe, based on saidmeasurement signal;

changing at least one parameter of said collection protocol if saiddetermining indicates that quality of coupling is insufficient.

Example 10. The method of Example 9, wherein said at least one parametercomprises a position of said probe in said medication container.

Example 11. The method of Example 10, comprising:

measuring a proximity measurement signal of proximity of an opening ofsaid probe to a pill; and

wherein said changing comprises moving said probe to a position based onsaid proximity measurement signal.

Example 12. The method of Example 11, wherein said proximity measurementsignal is a visual measurement signal.

Example 13. The method of Example 10, wherein said inserting comprisesinserting said a probe in a first direction into said medicationcontainer to an initial depth at an initial position on a planeperpendicular to said first direction;

wherein said position is a position of said probe on said plane, saidchanging thereby changing a position of said probe.

Example 14. The method of Example 13, wherein said position is a stepsize in distance from said initial position, said step size depending onmedication data and/or container data.

Example 15. The method of Example 12, wherein said medication dataincludes at least one pill dimension;

wherein said container data includes one or more historical successfulextraction position.

Example 16. The method of Example 9, comprising repeating saiddetermining and said changing until said determining indicates that saidquality is sufficient.

Example 17. The method of Example 16, comprising removing said probe andsaid pill from said medication container.

Example 18. The method of Example 16, comprising saving a position ofsaid probe when said quality is sufficient.

Example 19. The method of Example 9, wherein said changing compriseschanging a suction level, based on medication data.

Example 20. The method of Example 19, wherein said medication dataincludes one or more of:

a pill weight;

historical successful suction levels.

Example 21. The method of Example 9, wherein said determining comprisesone or more of:

receiving a probe suction level measurement;

receiving a weight measurement of said medication container; and

receiving a weight measurement of said probe.

Example 22. The method of Example 13, wherein said initial depth isbased on a fullness level of said medication container.

Example 23. The method of Example 22, wherein said fullness isdetermined using one or more of:

a value received from a memory; and

a measurement signal comprising one or more of:

-   -   a weight measurement; and    -   a proximity detection measurement.

Example 24. The method of Example 13, wherein said inserting comprisesselecting a probe based on said pill property data.

Example 25. The method of Example 9, wherein said determining comprises:

reducing suction for a time period; and

comparing said measurement signal before said time period and after saidtime period.

Example 26. The method of Example 2, wherein said medication selectioncomprises a desired number of pills, said method comprising:

receiving a measurement signal;

determining a number of pills coupled to said probe, based on saidmeasurement signal;

changing at least one parameter of said collection protocol if saiddetermining indicates that the number of pills coupled is less or morethan said desired number of pills.

Example 27. The method of Example 26, wherein said determiningcomprises:

reducing suction for a time period; and

comparing said measurement signal before said time period and after saidtime period.

Example 28. A dispensing system for collecting a medication dosage froma medication container comprising:

a suction source;

a probe connected to said suction source and configured to apply suctionfrom said suction source at a probe opening;

one or more actuator configured to move said probe to said medicationcontainer and into sufficient proximity to said medication dose tocouple said medication dose to said probe under said suction at saidprobe opening.

Example 29. The dispensing system of Example 28, wherein said one ormore actuator is configured to move said probe into said medicationcontainer.

Example 30. The dispensing system of Example 29, wherein said one ormore actuator is configured to move said probe within said medicationcontainer.

Unless otherwise defined, all technical and/or scientific terms usedherein have the same meaning as commonly understood by one of ordinaryskill in the art to which the invention pertains. Although methods andmaterials similar or equivalent to those described herein can be used inthe practice or testing of embodiments of the invention, exemplarymethods and/or materials are described below. In case of conflict, thepatent specification, including definitions, will control. In addition,the materials, methods, and examples are illustrative only and are notintended to be necessarily limiting.

As will be appreciated by one skilled in the art, some embodiments ofthe present invention may be embodied as a system, method or computerprogram product. Accordingly, some embodiments of the present inventionmay take the form of an entirely hardware embodiment, an entirelysoftware embodiment (including firmware, resident software, micro-code,etc.) or an embodiment combining software and hardware aspects that mayall generally be referred to herein as a “circuit,” “module” or“system.” Furthermore, some embodiments of the present invention maytake the form of a computer program product embodied in one or morecomputer readable medium(s) having computer readable program codeembodied thereon. Implementation of the method and/or system of someembodiments of the invention can involve performing and/or completingselected tasks manually, automatically, or a combination thereof.Moreover, according to actual instrumentation and equipment of someembodiments of the method and/or system of the invention, severalselected tasks could be implemented by hardware, by software or byfirmware and/or by a combination thereof, e.g., using an operatingsystem.

For example, hardware for performing selected tasks according to someembodiments of the invention could be implemented as a chip or acircuit. As software, selected tasks according to some embodiments ofthe invention could be implemented as a plurality of softwareinstructions being executed by a computer using any suitable operatingsystem. In an exemplary embodiment of the invention, one or more tasksaccording to some exemplary embodiments of method and/or system asdescribed herein are performed by a data processor, such as a computingplatform for executing a plurality of instructions. Optionally, the dataprocessor includes a volatile memory for storing instructions and/ordata and/or a non-volatile storage, for example, a magnetic hard diskand/or removable media, for storing instructions and/or data.Optionally, a network connection is provided as well. A display and/or auser input device such as a keyboard or mouse are optionally provided aswell.

Any combination of one or more computer readable medium(s) may beutilized for some embodiments of the invention. The computer readablemedium may be a computer readable signal medium or a computer readablestorage medium. A computer readable storage medium may be, for example,but not limited to, an electronic, magnetic, optical, electromagnetic,infrared, or semiconductor system, apparatus, or device, or any suitablecombination of the foregoing. More specific examples (a non-exhaustivelist) of the computer readable storage medium would include thefollowing: an electrical connection having one or more wires, a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), an optical fiber, a portable compact disc read-onlymemory (CD-ROM), an optical storage device, a magnetic storage device,or any suitable combination of the foregoing. In the context of thisdocument, a computer readable storage medium may be any tangible mediumthat can contain, or store a program for use by or in connection with aninstruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal may takeany of a variety of forms, including, but not limited to,electro-magnetic, optical, or any suitable combination thereof. Acomputer readable signal medium may be any computer readable medium thatis not a computer readable storage medium and that can communicate,propagate, or transport a program for use by or in connection with aninstruction execution system, apparatus, or device.

Program code embodied on a computer readable medium and/or data usedthereby may be transmitted using any appropriate medium, including butnot limited to wireless, wireline, optical fiber cable, RF, etc., or anysuitable combination of the foregoing.

Computer program code for carrying out operations for some embodimentsof the present invention may be written in any combination of one ormore programming languages, including an object oriented programminglanguage such as Java, Smalltalk, C++ or the like and conventionalprocedural programming languages, such as the “C” programming languageor similar programming languages. The program code may execute entirelyon the user's computer, partly on the user's computer, as a stand-alonesoftware package, partly on the user's computer and partly on a remotecomputer or entirely on the remote computer or server. In the latterscenario, the remote computer may be connected to the user's computerthrough any type of network, including a local area network (LAN) or awide area network (WAN), or the connection may be made to an externalcomputer (for example, through the Internet using an Internet ServiceProvider).

Some embodiments of the present invention may be described below withreference to flowchart illustrations and/or block diagrams of methods,apparatus (systems) and computer program products according toembodiments of the invention. It will be understood that each block ofthe flowchart illustrations and/or block diagrams, and combinations ofblocks in the flowchart illustrations and/or block diagrams, can beimplemented by computer program instructions. These computer programinstructions may be provided to a processor of a general purposecomputer, special purpose computer, or other programmable dataprocessing apparatus to produce a machine, such that the instructions,which execute via the processor of the computer or other programmabledata processing apparatus, create means for implementing thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

These computer program instructions may also be stored in a computerreadable medium that can direct a computer, other programmable dataprocessing apparatus, or other devices to function in a particularmanner, such that the instructions stored in the computer readablemedium produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or blockdiagram block or blocks.

The computer program instructions may also be loaded onto a computer,other programmable data processing apparatus, or other devices to causea series of operational steps to be performed on the computer, otherprogrammable apparatus or other devices to produce a computerimplemented process such that the instructions which execute on thecomputer or other programmable apparatus provide processes forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks.

Some of the methods described herein are generally designed only for useby a computer, and may not be feasible or practical for performingpurely manually, by a human expert. A human expert who wanted tomanually perform similar tasks, such as collecting dental measurements,might be expected to use completely different methods, e.g., making useof expert knowledge and/or the pattern recognition capabilities of thehuman brain, which would be vastly more efficient than manually goingthrough the steps of the methods described herein.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Some embodiments of the invention are herein described, by way ofexample only, with reference to the accompanying drawings. With specificreference now to the drawings in detail, it is stressed that theparticulars shown are by way of example and for purposes of illustrativediscussion of embodiments of the invention. In this regard, thedescription taken with the drawings makes apparent to those skilled inthe art how embodiments of the invention may be practiced.

In the drawings:

FIG. 1A is a simplified schematic front view of a dispensing system,according to some embodiments of the invention;

FIG. 1B is a simplified schematic side view of a dispensing system,according to some embodiments of the invention;

FIG. 2 is a simplified schematic of a pharmaceutical dispensing system,according to some embodiments of the invention;

FIG. 3 is a flow chart of a method of medication dispensing, accordingto some embodiments of the invention;

FIGS. 4A-4B is a detailed method of medication dispensing, according tosome embodiments of the invention;

FIG. 5 is a flow chart of a pick-up protocol method of pill extraction,according to some embodiments of the invention;

FIGS. 6A-6C are simplified schematics illustrating possible probelocations within a medication container, according to some embodimentsof the invention;

FIG. 6D is a simplified schematic of a medication container and probe,according to some embodiments of the invention;

FIGS. 7A-7D are simplified schematics showing extraction of a pill froma medication container, according to some embodiments of the invention;

FIGS. 8A-8E are simplified schematics showing extraction of a pill froma medication container, according to some embodiments of the invention;

FIGS. 9A-9C, are simplified illustrations of a side view of a dispensinghead, according to some embodiments of the invention;

FIGS. 10A-10B are simplified schematic top views of a containercontaining pills with a cross section of a probe at the probe tipsuperimposed on the top view, according to some embodiments of theinvention;

FIGS. 11A-11D are simplified schematics of a probe coupled to pills,according to some embodiments of the invention;

FIGS. 12A-12B are simplified schematics of a probe coupled to pills,according to some embodiments of the invention;

FIG. 13A is a simplified schematic of a probe with a mesh covered tip,according to some embodiments of the invention;

FIGS. 13B-13D are simplified schematic cross sections of a probe with amesh covered tip, coupled to pills, according to some embodiments of theinvention;

FIG. 14 is a simplified schematic of a probe with a tapering inlet,according to some embodiments of the invention;

FIG. 15 is a simplified schematic of a probe with probe tip enclosed bya low tension mesh, according to some embodiments of the invention;

FIGS. 16A-16B are simplified schematics of coupling of a pill to a probewith curved inlets at the probe tip, according to some embodiments ofthe invention; and

FIG. 17 is a simplified schematic of a multi-channel probe, according tosome embodiments of the invention.

DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

The present invention, in some embodiments thereof, relates to handlingpills within a pharmaceutical dispensing device and, more particularly,but not exclusively, to extraction of pills from medication containers.

Overview

A broad aspect of some embodiments of the invention relates toextraction of pills (or medication unit/s) from medication containerswhere extraction is tailored to parameter's of the particular pilland/or condition/s of the medication container. In some embodiments, aprobe is inserted into a medication container, couples a pill to theprobe, e.g. by suction at a probe opening, and then extracts the pill byremoving the probe.

An aspect of some embodiments of the invention relates to extracting apill using a collection protocol, which is matched to the pill and/orthe conditions of the pill to be extracted.

In some embodiments, a collection protocol is a pick-up protocol where apill is picked up by a probe inserted into a medication container. Insome embodiments, a medication unit (e.g. pill) is collected using adifferent collection technique, for example, by opening a valve at abase of the medication container and allowing a pill to exit through thevalve e.g. under gravity.

In some embodiments, one or more pick-up protocol parameter is based onone or more pill property and/or one or more medication containercondition. In some embodiments, matching includes selecting a pick-upprotocol. In some embodiments, matching includes generating a pick-upprotocol. In some embodiments, matching comprises adjusting one or moreparameter in a pick-up protocol.

In some embodiments, pill properties include one or more constantproperty, for example, one or more of; pill size, pill shape, pillweight, pill material properties (e.g. hardness), and calibration data.

Alternatively or additionally, in some embodiments, pill propertiesinclude one or more dynamic property, for example, a desired number ofpills, historical data on successful extraction e.g. suction level,probe size, step size.

In some embodiments, medication container conditions include constantparameters, for example, internal size and/or shape of the medicationcontainer.

Alternatively or additionally, in some embodiments, medication containerconditions include dynamic conditions, for example, a fullness of themedication container. Where fullness, in some embodiments, is defined asa distance from a top level of the container to a level of the pillswithin the container or is defined a height from a base of the containerto the level of pills within the container.

In some embodiments, fullness distance/s are directly measured. In someembodiments, fullness distance/s are determined from measurement (e.g.from weight sensor measurements) and/or determined (e.g. from historicalextraction data).

In some embodiments, modifiable parameter/s of a pick-up protocolinclude parameter/s related to one or more initial conditions of theprobe, for example, an initial position that the probe is inserted toand/or an initial suction level applied at the probe and/or a type ofprobe to be used.

In some embodiments, an initial suction level is selected to be aminimum level of vacuum required e.g. to couple a particular pill to theprobe e.g. based on a weight of the pill to be extracted. For example,in some embodiments, a pick-up protocol suction level is based on aweight of the pill to be extracted, higher suction (lower pressure)being applied at the probe to extract heavier pill/s. A potentialadvantage of applying minimal suction (e.g. for a particular pill) isreduction in damage to pills and/or prevention of coupling more than adesired number of pills to the probe.

In some embodiments, an initial position of a probe is selected based ona size of the medication container and/or fullness of the medicationcontainer and/or historical position within the container of one or moreprevious successful pill extractions e.g. position of a previous 1, or2, or 3, or 4, or 1-10, or lower or higher or intermediate numbers ofprevious successful extractions. In an exemplary embodiment, a probe isinserted into a medication container to a depth selected based on thefullness of the medication container and/or a positon of the probe in aplane perpendicular to a depth direction of the container is based onpositions of previous successful extractions.

In some embodiments, whether a pill is coupled to the probe isdetermined from one or more sensor measurement. For example, from one ormore weight sensor, (e.g. a weight of the medication container reducesupon successful coupling and/or a weight of the probe increases uponsuccessful coupling) and/or from a suction sensor (e.g. measured suctionat the probe reduces upon coupling).

In some embodiments, during extraction of a pill from a medicationcontainer, one or more pick-up protocol parameter is adjusted. Theadjustment, in some embodiments, is based on feedback received duringextraction.

For example, in some embodiments, a step size is changed.

For example, in some embodiments, suction levels applied at the probe tocouple a pill to the probe by suction are changed, for example,increased after failure to couple a pill.

In some embodiments, a pick-up protocol specifies change/s, which are,for example, made upon unsuccessful pill coupling to the probe. Forexample, changes to positon of the probe (e.g. step size for a change ofposition of the probe) and/or change/s to suction level at the probe.

For example in some embodiments, a probe inserted into the medicationcontainer is moved within the container in one or more direction, untila pill is successfully extracted. In some embodiments, the probe ismoved by a step size defined by the pick-up protocol.

In some embodiments, a pick-up protocol specifies an order of changes,which are made upon failure to couple a pill to the probe.

For example, in some embodiments, suction is changed first, and onlyupon failure of one or more suction level different to an initialsuction level (e.g. a plurality of suction levels up to a maximumsuction level, which, in some embodiments, depends on pill parameter/sand/or container parameter/s) is the probe moved.

Alternatively, in some embodiments, the probe is moved one or more timebefore suction levels are changed.

In some embodiments, sensor signals are used to change the pick-upprotocol. For example, in some embodiments, proximity of the probe topill/s is identified from sensor measurement/s, for example visualsensor measurement/s (e.g. imager measurements) and/or proximity sensormeasurement/s. In some embodiments, movement of the probe is based onthe identified proximity.

In some embodiments, data regarding successful extraction of pills isused to update parameter/s of a pick-up protocol. For example, in someembodiments, a pick-up protocol initially has one or more parameterbased on one or more pill property and/or container condition. Duringextraction from the container, using the pick-up protocol, successfulpick-up data (e.g. suction level, position) is used to adjust thepick-up protocol. For example, an initial suction level is defined by apill weight. Successful coupling is achieved with higher suction levelsand the pick-up protocol is adjusted so that the initial suction level,for the pill type and/or for the particular container is higher.

In some embodiments, pick-up protocols are generated and/or adjustedduring calibration. For example, in some embodiments, a new pill isintroduced to the system. Optionally, data regarding the new pill (e.g.,“pill properties” e.g. pill size, weight) are inputted into the memoryand optionally used to generate the pick-up protocol.

Alternatively or additionally, the pick-up protocol is generated and/oradjusted based on test routines where pills are extracted using pick-upprotocols e.g. different suction levels and/or movement parameters (e.g.step size).

In some embodiments, a range of different suction levels and/or stepsizes are tested, data for successful coupling of pills is used togenerate pick-up protocol/s. In some embodiments, a minimum effectivesuction level and/or minimum effective step size are determined incalibration and optionally used in a pick-up protocol for the new pilltype.

In some embodiments, a pick-up protocol includes selecting a probe froma plurality of probes. In some embodiments, a pill is coupled to a probeat an opening of the probe. In some embodiments, the opening is locatedat a tip of the probe, and within this document, the term “probe tip” isused interchangeably with the term probe opening and is intended tocover embodiment where the opening is not located at a tip of the probe.In some embodiments, probe tip area is selected based on pillproperties, for example, in some embodiments a size of a tip area isbased on pill dimensions e.g. larger pill, larger tip. In someembodiments, probe tip curvature is based on pill curvature, a potentialadvantage being improved sealing between the tip and the probe forimproved coupling.

In some embodiments, a probe has a perforated tip (e.g., the tip iscovered in a mesh). A potential advantage of a perforated tip is theability to couple more than one pill to the tip. In some embodiments,the tip size is larger than the pill, so that the pill would be suckedinto the tip if the tip did not have a cover (e.g. mesh cover). In someembodiments, the perforated tip cover is used to extract more than onepill where a sensor (e.g. weight sensor) is used to determine the numberof coupled pills to the tip.

In some embodiments, a probe is configured to couple to a range ofdimensioned pills. For example, in some embodiments, a probe openingincludes a tapered inlet, pills entering into the probe opening, at adepth associated with dimensions of the pills.

In some embodiments, a probe is selected to match geometry of a pill tobe collected, for example, a cross section of an opening of a probe isselected based on the pill shape. For example, in some embodiments,ovalic shape pills are collected using a probe tip with ovalic crosssection, in some embodiments, spherical pills are collected using aprobe tip with circular cross section.

In some embodiments, the probe is configured to impact the containerand/or pills with low force during movement of the probe. A potentialadvantage being low damage to the container and/or pills. In someembodiments, the probe is soft e.g. made of softer material (e.g.silicone rubber) than that of the pills to be extracted. In someembodiments the probe is deformable (e.g. elastically) in one or moredirection.

Throughout this document, the term “pill” has been used. It should beunderstood that the term is intended to cover all to cover all discretemedication units. Furthermore, in some embodiments, the probe is used toextract fluid medication (e.g. liquid, powder, granules) where, in someembodiments, the fluid medication is held within the probe. In someembodiments, a suction level is selected to extract the required amountof fluid medication. In some embodiments, feedback as to whether thecorrect amount of fluid medication has been collected is provided by aprobe weight sensor and/or a container weight sensor.

Before explaining at least one embodiment of the invention in detail, itis to be understood that the invention is not necessarily limited in itsapplication to the details of construction and the arrangement of thecomponents and/or methods set forth in the following description and/orillustrated in the drawings and/or the Examples. The invention iscapable of other embodiments or of being practiced or carried out invarious ways.

Exemplary Pharmaceutical Dispensing Systems

FIG. 1A is a simplified schematic front view of a dispensing system 100,according to some embodiments of the invention.

FIG. 1B is a simplified schematic side view of a dispensing system 100,according to some embodiments of the invention.

In some embodiments, FIG. 1B is a side view of the dispensing system ofFIG. 1A.

In some embodiments, dispensing system 100 includes at least onecontainer 102. In some embodiments, system 100 includes a plurality ofcontainers 102. In an exemplary embodiment, containers are arranged in avertical array where containers are arranged one above each other (e.g.stacked) e.g. rows of containers are arranged vertically. In someembodiments, the containers are attached to and/or part of a medicationspanel 104. In some embodiments, each container includes an opening 106through which pills are extracted.

In some embodiments, a container has an internal shape configured tocontrol movement of pills within the container e.g. as the pills areinserted (e.g. poured into the container) and/or movement of remainingpills as pills are extracted. In some embodiments, a container has ashape with a tapered base, pills flowing in a direction of the taper. Insome embodiments, the container is shaped to orientate and/or locatepills (orient e.g. non-spherical pills), for example, a containerincluding a plurality of indentations where pill/s are configured tomove into the indentations. In some embodiments, non-spherical pills areorientated so that a larger and/or largest face of the pill is presentedin a direction of the probe, potentially reducing a number of pick-upattempts required to extract a pill, as the probe, potentially couplesmore effectively to a larger pill face. In some embodiments, pills arepositioned in known locations e.g. by shaping of the pill container,potentially reducing the number of pick-up attempts required as, in someembodiments, the probe is placed in positions where pills are expected(and/or likely to be located). In some embodiments, dispensing system100 includes a dispensing head 108, which extracts pill/s from thecontainer/s. In some embodiments, the system includes one or moreactuator (not illustrated) which is configured to move (e.g. asillustrated by arrows 112, 113) the dispensing head to a region of aselected container.

In some embodiments, dispensing head 108 includes a probe 110 (and/or aninterface for attachment thereto of a probe). Where probe 110, in someembodiments, is sized and/or shaped for insertion into one or morecontainer through the respective container opening/s.

In some embodiments, probe 110 is inserted into a container by movementof the dispensing head e.g. the dispensing head moved by one or more ofthe same actuators which move the head to a region of a selectedcontainer.

In some embodiments, the system includes a first set of actuators, whichmove the dispensing head to a region of a selected medication container.In some embodiments, additional actuator/s perform fine movement of theprobe with respect to the container. For example, in some embodiments,the probe is moved with respect to the dispensing head.

In some embodiments, the dispensing head includes a gripper configuredto connect the dispensing head to a probe where, in some embodiments,the system includes a plurality of probes.

In some embodiments, suction is applied at the probe to couple a pill(e.g. pill) to the probe. In some embodiments, suction is applied by asuction source (e.g. suction) pump fluidly coupled to the probe e.g.fluidly coupled to one or more opening of the probe.

In some embodiments, pill/s are dropped by the gripper and probe afterextraction from a container into a receptacle 114. In some embodiments,receptacle 114 is held by a carrier 116, which, in some embodiments,moves 118 to position receptacle 114 underneath the dispensing head. Insome embodiments, receptacle 114 is an open envelope.

In some embodiments, the probe includes (and/or is connected to) one ormore sensor 120. In some embodiments, sensor 120 provides feedback as tosuitability of position of the probe for extracting a pill for exampleproximity of the probe to a pill. In some embodiments, sensor 120comprises an imager and/or a force sensor.

In some embodiments, an imager (e.g. which provides feedback used inpositioning the probe) is disposed within a suction channel of a probe,for example, the imager collecting visual data (e.g. images) of pillsfrom within the channel. Alternatively or additionally, in someembodiments, an imager is disposed on an outer surface of the probe.

FIG. 2 is a simplified schematic of a pharmaceutical dispensing system200, according to some embodiments of the invention.

In some embodiments, system 200 includes at least one medicationcontainer 202, and in some embodiments, a plurality of medicationcontainers e.g. an array of medication containers (e.g. including one ormore feature as described and/or illustrated regarding containers 102FIGS. 1A-B).

In some embodiments, system 200 includes one or more medicationcontainer sensor 222. In some embodiments, a medication container sensorsenses weight of one or more medication container.

In some embodiments, system includes a probe 210 for collectingmedication from medication container/s 202. In some embodiments, probe210 collects medication by application of negative pressure at anopening of the probe (e.g. at an opening at a tip of the probe). Where,in some embodiments, negative pressure is supplied by a suction pump224.

In some embodiments, system 200 includes more than one type of probeand, in some embodiments, a probe is selected for extraction of aparticular medication and/or from a particular container. In someembodiments, system 200 includes a plurality of probes with differentsized tips.

In some embodiments, a suction sensor 226 measures suction applied bysuction pump 224 and/or measures suction at probe 210. For example, insome embodiments, suction measured by suction sensor 226 reduces once apill (e.g. pill) is coupled to probe 210 by suction.

In some embodiments, system 200 includes one or more actuator 228, whichmove probe 210 with respect to the medication container/s. In someembodiments, one or more actuator moves probe 210 into a medicationcontainer and/or moves the probe within the medication container and/orwith respect to the medication container.

In some embodiments, system 200 includes a controller 230. In someembodiments, controller sends instructions to suction pump 224 and/orhead actuators 228 to control extraction of medication from medicationcontainer/s 202.

For example, in some embodiments, controller 230 receives data (e.g. amedication selection e.g. a collection protocol) and generates and/orsends control signals to actuator/s e.g. actuator/s configured to movethe probe and/or actuator/s which control suction at the suction pump.

In some embodiments, system 200 includes one or memory 232. In someembodiments, memory 232 is hosted within the system. Alternatively oradditionally, in some embodiments memory 232 includes memory external tothe system.

In some embodiments, system 200 includes one or more user interface 234.In some embodiments, a user enters information into the user interfacee.g. a medication request for medication to be dispensed e.g. regardinga medication schedule for a particular patient.

In some embodiments, controller 230 generates the instructions based onsensor signal/s e.g. from one or more of sensors 226, 222, 211.Alternatively or additionally, in some embodiments, controllerinstructions are generated based on data retrieved from a memory 232and/or instructions inputted into a user interface 234.

Exemplary Medication Dispensing

FIG. 3 is a flow chart of a method of medication dispensing, accordingto some embodiments of the invention.

At 300, in some embodiments, a desired medication selection is received.E.g. including one or more feature as described regarding step 400, FIG.4A.

At 302, in some embodiments, a pick-up protocol is matched to themedication selection.

FIGS. 4A-4B is a detailed method of medication dispensing, according tosome embodiments of the invention.

At 400, in some embodiments, a medication request is received. In someembodiments, the request includes a medication selection including atype of medication and/or a number of pills (e.g. number of pills).

In some embodiments, the request is received from a user interface. Forexample, the medication request is inputted by a user through the userinterface (user interface e.g. including one or more feature asdescribed and/or illustrated regarding user interface 228 FIG. 2). Insome embodiments, a user inputs one or more identifier e.g. a patientidentifier and/or a time identifier and/or a ward identifier and fromthe identifier/s the controller identifies (e.g. from a memory e.g. alook-up table) a medication request. Alternatively or additionally, insome embodiments, the request is automatically generated e.g. based onprevious inputs and/or data received e.g. from an external source.

At 402, in some embodiments, a medication container is selected, basedon the received medication request. For example, medication containerholding the desired medication is selected e.g. using a memory (e.g.memory 226 FIG. 2).

In some embodiments, the system selects a container from more than onepossible container, optionally based on container parameters e.g.fullness of the respective containers, e.g. location of the container/se.g. expiry date of medication in a container. There is more than onepossible container, for example, in situations where more than onecontainer houses a same medication and/or when a dose of medication maybe made up using different combinations of medication from differentcontainers (e.g. a patient dosage is 100 mg and a container including100 mg pills may be selected or two pills from a container including 50mg pills may be selected).

At 403, optionally, pill property data and/or medication container datais received e.g. from a memory (e.g. memory 226 FIG. 2).

In some embodiments, pill property data (also herein termed “pillproperties”) includes one or more of; historical data on successfulsuction level/s for extraction of the medication, historical data onsuccessful step size for movements in a pick-up protocol, size, shape,weight, material properties (e.g. hardness) of the medication.

In some embodiments, medication container data includes one or more ofinternal dimension/s of the container, a fullness height and/or depthand/or weight of the container, and/or historical data on position ofprevious pill extraction/s.

At 404, optionally, a probe is selected, for example, from a pluralityof probes. In some embodiments, probe selection is based on pillproperty data e.g. size and/or shape of the medication.

For example, in some embodiments, a probe is selected for extraction ofa pill, where a dimension of the probe (e.g. probe tip e.g. crosssectional inner dimension of the probe tip e.g. maximum dimension and/orminimum dimension and/or average dimension) is based on one or moredimension of the pill to be extracted e.g. a pill maximum dimensionand/or a pill minimum dimension and/or a pill average dimension (e.g.pill dimensions as defined regarding step 416 of FIG. 4B).

At 406, in some embodiments, a probe is inserted into the selectedmedication container e.g. through an opening in the container (e.g.opening 106 FIG. 1A, opening 606 FIG. 6D). In some embodiments,direction and/or depth of insertion, are based on medication containerand/or pill property data. For example, in some embodiments, an initialdepth of insertion of the probe is based on a fullness level of thecontainer. For example, in some embodiments, an initial position ofinsertion of the probe is based on position/s of successful previouspill extraction/s.

At 408, in some embodiments, suction is applied at the probe. In someembodiments, a suction level is based on medication container dataand/or pill property data. For example, in some embodiments, highersuction is applied for extraction of large and/or heavy medication.

At 410, in some embodiments, one or more sensor signal is received. Forexample, suction level at the probe, for example, weight of themedication container. For example, visual sensor data from within themedication container e.g. data from a visual sensor at the probe (e.g.sensor 120 FIG. 1B). For example, force sensor data e.g. from a forcesensor at the probe (e.g. sensor 120 FIG. 1B).

At 412, optionally, in some embodiments, sensor signal/s are saved. Forexample, as pill property data and/or medication container data.

At 414, in some embodiments, sensor signal/s are evaluated to determineif pill/s are coupled to the probe. Where, for example, in someembodiments, a measured reduction in suction at the probe is comparedwith a threshold to determine if a pill is coupled to the probe.

In some embodiments, different pills have different thresholds. Forexample, in some embodiments, the threshold depends on the pill shapeand/or weight.

In some embodiments, a quality of coupling of the pill to the probe isdetermined.

In some embodiments, for example, where the pill shape is notsymmetrical, suction level, in some embodiments, indicates orientationof the pill with respect to the probe.

Alternatively, or additionally, in some embodiments, measured weight ofa medication container is compared with a historical weight of thecontainer to determine if a pill is coupled to the probe.

In some embodiments, sensor signal/s are evaluated to determine if acorrect number of pills are coupled to the probe. For example, only one,or more than one, where the medication request includes more than onepill to be extracted from the same container. In some embodiments, aweight sensor is used to provide feedback as to the number of pillscoupled to the probe.

At 416, in some embodiments, if it is determined that coupling of adesired number of pill/s to the probe has failed, the probe is moved.

In some embodiments, movement of the probe is discrete where, forexample, while the probe is moved, suction is stopped and reapplied oncethe probe has been repositioned, step 414 being performed, in someembodiments, at each repositioning. Alternatively, in some embodiments,suction is applied continuously as the probe is moved.

In some embodiments, movement of the probe is based on one or more pillproperty. For example, in some embodiments, movement of the probe in adirection is by a step size, where, in some embodiments, the step sizeis related to one or more dimension of the pill.

For example, in some embodiments, step size is based on average x/y/zdimensions of a pill to be extracted.

For example, in some embodiments, where a minimum volume occupied by apill is defined by a volume a*b*c, the step size is

0.1*min(a,b,c)−10*max(a,b,c),

or 0.2*min(a,b,c)−5*max(a,b,c),

or 0.5*min(a,b,c)−2*max(a,b,c),

or lower or higher or intermediate values or ranges.

Where min(a,b,c), a minimum pill dimension, denotes the minimum of a, b,and c. Where max(a,b,c), a maximum pill dimension, denotes the maximumof a, b, and c.

In an exemplary embodiment, a step size is about an average pilldimension, an average of dimensions a, b, and c; average(a,b,c).

In some embodiments, the step size is the same for both increase indepth into the container (e.g. z direction illustrated in FIG. 6D) andlateral movement (movement within x-y plane as illustrated in FIG. 6D),within the container.

In some embodiments, before the probe is moved laterally (perpendicularto a depth direction) the probe is lifted (depth is reduced), forexample, movement as illustrated in FIGS. 8A-E. A potential advantagebeing reduced likelihood of collision of the probe with pill/s.

Alternatively, in some embodiments lateral movement of the probe isperformed without raising the probe beforehand, for example, movement asillustrated in FIGS. 7A-D.

In some embodiments, steps 414 and 416 are performed until it isdetermined that the desired number of pills are coupled to the probe.

In some embodiments, the probe is prevented from collision with pill/s,for example, using one or more sensor. For example, in some embodiments,a proximity sensor signal and/or a force sensor is evaluated and, ifproximity of the probe reduces to below a threshold and/or a sensedforce is above a threshold, probe movement is changed and/or ceased.

At 418, in some embodiments, if it is determined that coupling of adesired number of pill/s to the probe has failed, a suction level ischanged. For example, in some embodiments, suction is increased.

In some embodiments, steps 416 and 418 are alternated.

In some embodiments, an order of steps 414 and 416 is reversed, forexample, suction levels are first changed and then the probe is moved.

In some embodiments, several suction levels are attempted (e.g. withbreaks in suction in between) before the probe is moved.

In some embodiments, several movements of the probe are performed beforethe suction level is changed.

In an exemplary embodiment, if, at a given position extraction with theinitial suction level fails, the suction level is first changed, forexample increased by 10-500%, or 50-300%, or up to 200%, or by about200%, or lower or higher or intermediate ranges or percentages of theinitial suction level.

FIG. 5, described in detail below, illustrates an exemplary pick-upprotocol for changing suction and position of the probe.

At 420, optionally, in some embodiments, the system checks that a singlepill is coupled to the probe. In some embodiments, the probe tip issufficiently large and/or suction is sufficiently high that it ispossible to couple more than one pill to the probe. In some embodiments,a sensor (e.g. weight sensor) is used to determine the number of coupledpills. Alternatively or additionally (e.g. when too many pills arecoupled) to sensor feedback, in some embodiments, applied suction isreduced or ceased e.g. briefly. In some embodiments, after the change insuction, pill/s less securely coupled decouple from the probe and fall(e.g. back into the medication container). In some embodiments, acessation (or reduction) in applied suction is for less than a second,or for 1-500 mS, or for 1-100 mS, or for 5-50 mS, or for lower or higheror intermediate times or ranges.

In some embodiments, a duration of cessation (or reduction) in suctionis tailored to the specific pill. In some embodiments, the duration isbased on a weight and/or size and/or shape of the pill.

In some embodiments, excess (e.g. of medication request) pill/s aredecoupled by subjecting the probe to a shock, for example by banging theprobe e.g. on the side of the medication container.

At 422, optionally, in some embodiments, data of probe movement and/orsuction level is saved, for example in a memory (e.g. memory 232 FIG.2).

At 424, optionally, in some embodiments, pill property data and/ormedication container data is updated with saved movement and/or suctiondata.

At 426, in some embodiments, when it is determined that coupling of adesired number of pill/s to the probe has succeeded, the probe is movedout of the container (e.g. though the container opening) extracting thepill/s coupled to the probe.

At 428, in some embodiments, the extracted pill/s are delivered e.g. toa medication receptacle (e.g. receptacle 114 FIG. 1A). For example, byreducing suction at the probe and allowing the pill/s to fall into themedication receptacle. In some embodiments, positive pressure is appliedto de-couple the pill from the probe. For example, upon measurementsignal/s (e.g. weight measurement of the receptacle) indicating that thepill is still coupled to the probe.

At 430, in some embodiments, delivery of pill/s is verified, forexample, using weight sensor measurement at the delivery receptacle.

FIG. 5 is a flow chart of a pick-up protocol method of pill extraction,according to some embodiments of the invention.

FIG. 5 illustrates an embodiment where, until pill coupling issuccessful, an initial suction, S 1, is applied A times before suctionis increased.

In some embodiments, the initial suction level is based on historicallysuccessful suction level/s for the pill type and/or for the selectedcontainer. In some embodiments, S1 is the level of suction appliedduring the previous extraction from the container.

Increasing suction S2=S1+(m+1)δ is then applied B times and then theprobe is repositioned, the process restarting with the initial suctionlevel S1. Where, in some embodiments, the illustrated order of steps andS1, S2, A, B, δ are defined by the pick-up protocol.

Where, in some embodiments, B is one corresponding to a protocol wheretwo suction levels are applied, S1 and S2. Where, in some embodiments,A=1 corresponding to a protocol where suction is immediately increasedafter an initial suction level fails.

At 500, in some embodiments, a probe is inserted to an initial depth (ina z direction) at an initial position (x-y plane perpendicular to thedepth z direction) within a medication container and an initial suctionlevel is applied at the probe. In some embodiments, counts n and/or mare set to zero.

In some embodiments, the initial depth is based on historicallysuccessful depth/s for the pill type and/or for the selected container.In some embodiments, the initial depth is the depth that the probe wasinserted to for the previous extraction from the container.

At 502, in some embodiments, whether a pill has successfully beencoupled to the probe or not (e.g. with initial conditions at step 500)is determined. For example, using measurement e.g. suction levels and/orweight sensor measurement.

If “yes”, a pill has successfully been coupled at step 502, at 522, insome embodiments, the probe is removed from the container extracting thepill.

If “no”, a pill has not been coupled to the probe at step 502, at 504,in some embodiments, the initial suction is re-applied A times.

After application of initial suction level S1 A times, at 514, anincreased suction level, S2 which is 6 larger than S1, on the firstiteration (S2=S1+(m+1)δ), is applied.

At 514, in some embodiments, whether a pill has successfully beencoupled to the probe or not is determined. For example, usingmeasurement e.g. suction levels and/or weight sensor measurement.

If “yes” a pill has successfully been coupled to the probe at step 514,at 522, in some embodiments, the probe is removed from the containerextracting the pill.

If “no” a pill has not successfully been coupled at step 514, at 516, insome embodiments, m is incremented and, at 510, in some embodiments, nis compared with B, a maximum number of suction increases, correspondingto a maximum suction level Smax=S1+(B+1)δ). B and/or Smax e.g. asdefined within the pick-up protocol.

In some embodiments, if m is not equal to B (e.g. is less than B), thenstep 512 is repeated.

If m is equal to B, in some embodiments, at 520, the probe isrepositioned, e.g. by a step size and, in some embodiments, n and/or mare reset to 0 and, in some embodiments, the process continues at step504.

FIGS. 6A-6C are simplified schematics illustrating possible probelocations 638 within a medication container 602, according to someembodiments of the invention.

FIGS. 6A-6C, in some embodiments, illustrate possible positions of theprobe. Probe positions illustrated with dashed lines. Where FIGS. 6A-6Cillustrate probe positons e.g. in an x-y plane perpendicular to a depthdirection of the container, e.g. corresponding to directions illustratedin FIG. 6D:

FIG. 6D is a simplified schematic of a medication container 602 andprobe 610, according to some embodiments of the invention. In someembodiments, arrows 630 of FIG. 6D show possible degrees of freedom ofmovement of probe 610 in an x-y plane.

In some embodiments, possible probe locations form an evenly spacedgrid. For example, as illustrated in FIG. 6A and FIG. 6B. Where, forexample, step size between adjacent positions varies e.g., step size 650is smaller than step size 652.

In some embodiments, e.g. as illustrated in FIG. 6C, possible positionsfrom a starting position 656 are centered on a circle 658 with radiuscorresponding to the step size (exemplary possible positions fromstarting position 656 illustrated in FIG. 6C by dashed circles).

In some embodiments, upon failed pick-up in a first position, the probeis moved to a second position adjacent (e.g. one step size away) to thefirst position e.g. as illustrated by arrows in FIGS. 6A-6C.

In some embodiments, a step size is 0.1 mm-50 mm, or 0.5-20 mm, or 1-5mm, or lower or higher or intermediate sizes or ranges.

In some embodiments, step size is selected based on a probe tip area.For example, in order for the step size to provide dense coverage of thecontainer with a given probe tip, e.g. as illustrated in FIG. 6B wheredistance between possible locations is minimized. In some embodiments, astep size is 0.5, or 1, or 2, or 0.1-5, or 0.5-2 times, or lower orhigher or intermediate multiples or ranges, of a cross sectionaldiameter of a probe tip or maximum cross sectional extent at the probetip, in the case of non-circular probe tip cross section.

Alternatively or additionally, in some embodiments, step size isselected based on a dimension of a pill to be extracted with the probe.For example, the step size being 0.5, or 1, or 2, or 0.1-5, or 0.5-2times a maximum dimension of the pill.

FIGS. 7A-7D are simplified schematics showing extraction of a pill 736from a medication container 702, according to some embodiments of theinvention.

In some embodiments, a probe 710 includes an opening 738, which, in someembodiments, e.g. as illustrated in FIGS. 7A-7D, is located at a tip ofthe probe.

In FIG. 7A, a probe 710 has been inserted into medication container 702but at the x-y position of insertion there is no pill sufficiently closeto a tip 738 of the probe for suction at tip 738 to couple the pill tothe probe tip.

In FIG. 7B, the probe has been moved in the x-y plane, but there isstill no pill sufficiently close to tip 738 of the probe for suction attip 738 to couple the pill to the probe tip.

In FIG. 7C, the probe has been moved again in the x-y plane, to a newlocation and a pill is sufficiently close to tip 738 for suction at tip738 to couple the pill to the probe tip.

In FIG. 7D the probe is in the process of being lifted out of container702, extracting pill 736.

FIGS. 8A-8E are simplified schematics showing extraction of a pill 836from a medication container 802, according to some embodiments of theinvention.

In FIG. 8A, a probe 810 has been inserted into medication container 802but at the x-y position of insertion there is no pill sufficiently closeto a tip 838 of the probe for suction at tip 838 to couple the pill tothe probe tip.

In FIG. 8B, probe 810 has been lifted (e.g. in the z direction) awayfrom the pills before, in FIG. 8C probe is moved in the x-y plane.

Once moved in the x-y plane, in FIG. 8C, the probe is re-inserted,sufficiently close to a pill 836 to couple the pill to the probe and, inFIG. 8D the probe is in the process of being lifted out of container802, extracting pill 836.

Exemplary Apparatus

FIGS. 9A-9C, are simplified illustrations of a side view of a dispensinghead, according to some embodiments of the invention.

As shown in FIG. 9A, dispensing head 600 is configured to move across avertical panel 400-1 and approximate containers 402 coupled to panel400-1. Head 600 is configured to move between containers 402 by a linearmovement in a vertical direction Y. In some embodiments, the linearmovement is a combination of horizontal movements in direction X andvertical movement in direction Y across panel 400-1.

As shown in FIGS. 9A and 9B, dispensing head 600 includes a head housing602. In some embodiments, head 600 has a movable platform 604, rotatablycoupled to housing 602.

According to some embodiments, head 600 includes a gripper module 606,coupled to platform 604, and a gripper 608 coupled to gripper module 606and configured for picking a probe P coupled to a medication container402.

As shown in FIGS. 9A to 9C, in some embodiments, gripper module 606 islinearly moveable in respect to housing 602 in a proximal direction610-1 and a distal direction 610-2. In some embodiments, gripper module606 is configured to actuate gripper 608 for grabbing a probe P from thecontainer by approximating gripper 608 to the probe P in a proximaldirection 610-1, and grabbing the probe away of the container by adistal linear motion in direction 610-2. In some embodiments, returningof probe P to the container is by actuating gripper 608 by grippermodule 606 in a proximal linear motion towards of the container indirection 610-1. In some embodiments, moving gripper 608 in proximaldirection 610-1 and distal direction 610-2 is without moving housing 602in respect to the medications panel (such as 400-1). In someembodiments, proximal direction 610-1 and distal direction 610-2 arevertical in direction Y.

According to some embodiments, rotating gripper 608 in respect to themedications panel is without rotating housing 602 and without movinghead 600. In some embodiments, for example as shown in FIGS. 9A and 9B,head 600 includes a gear mechanism 612, interconnecting platform 604 andhousing 602. In some embodiments, rotating of platform 604 by gear 612,rotates gripper 608 in directions 612-1 (shown in FIG. 9B) and 612-2(shown in FIG. 9A). In some embodiments, rotational directions 612-1 and612-2 are about axis X which is perpendicular to axes Y and Z.

In some embodiments, head 600 includes a linear gear mechanism 616,interconnecting gear module 606 and housing 602. In some embodiments,moving of gear module 606 by gear 616, moves gripper 608 in directions610-1 (shown in FIG. 9C) and 610-2 (shown in FIGS. 9A and 9B). In someembodiments, linear gear mechanism 616 interconnects gear module 606 andplatform 604. In some embodiments, connecting gear 616 to platforms 604,enables actuating of gripper 608 and/or reader 614 in both linear androtation motion in respect to housing 602.

According to some embodiments, dispensing head 600 includes envelopecarrier 618 for coupling one or more medication envelopes (such as 202)to head 600. In some embodiments, for example as shown in FIG. 9A,envelope carrier 618 is coupled to housing 602, below gripper 608.According to some embodiments, envelope carrier 618 includes envelopemount 620, which is configured to hold an envelope (e.g. 202) whendispensing medication dosage into the envelope. As shown in FIG. 9A,envelope mount 620, is holding envelope 202 vertically under gripper608. In some embodiments, when a probe P is used to hold the medicationdosage, envelope mount 620, is holding envelope 202 vertically under thetip of the probe P, such as a medication disposed at the tip of theprobe is dispensed by dropping the medication M from the probe P intothe open envelope.

In some embodiment, holding the envelope is by suction power applied toa surface of the envelope by mount 620. In some embodiments, a suctionsystem (such as 520) is connected to envelope carrier 618 to providesuction to a suction port disposed in mount 620.

Exemplary Probes and Exemplary Probe Selection

In some embodiments, the probe is configured to minimize potentialdamage associated movement of the probe within the container, includingimpacts between the container and/or pills within the container and theprobe.

In some embodiments, the probe e.g. probe tip includes soft material,for example material softer than that of the pills to be extracted e.g.rubber e.g. sponge. For example, in some embodiments, the probe includesa soft and/or compressible coating and/or tip.

In some embodiments, the probe includes a collapsible and/or elasticallydeformable structure. For example, in some embodiments, the probeincludes a concertina structure, which is configured to contract in adirection of a long axis of the probe and/or in a direction of insertionof the probe. In some embodiments, the concertina structure is flexible(e.g. elastically deflectable) in directions perpendicular to the longaxis of the probe and/or direction of insertion of the probe.

In some embodiments, the probe comprises (e.g. is made from) rubber e.g.silicone rubber. Alternatively or additionally, in some embodiments, theprobe comprises plastic and/or metal.

In some embodiments, the probe is tubular structure, which, in someembodiments, is elastic. For example, elastically deflectable e.g. atleast in one or more direction perpendicular to a long axis of theprobe.

In some embodiments, the probe is a metal tubular structure. In someembodiments, the probe is a plastic tubular structure.

In some embodiments, the probe includes a disposable and/or replaceableportion e.g. tip. Where, for example, in some embodiments, the probe tipis replaced after a time duration and/or after each use, for example,after dispensing of a particular medication and/or of a patient'smedication, potentially reducing contamination. In some embodiments, atip of the probe is extended (e.g. to an original length) after removalof the tip (e.g. a probe sheath is unrolled to extend the probe).

FIGS. 10A-10B are simplified schematic top views of a container 1002containing pills 1036 with a cross section of a probe at the probe tip1038 superimposed on the top view, according to some embodiments of theinvention.

FIGS. 10A-10B illustrate use, in some embodiments, of larger tip sizefor extraction of larger pills (FIG. 10B compared to FIG. 10A).Potentially a larger tip size enables coupling with lower pressure,potentially reducing and/or preventing damage to the pill. Additionallyor alternatively, a larger tip is advantageous for larger pills as spacebetween the pills may be correlated with the pill size and the largertip, potentially, is more likely to overlap a pill at any givenposition.

In some embodiments, a probe tip internal cross sectional area selectedto be 10-90%, or 10-80%, or 10-50%, or lower or higher or intermediatepercentages or ranges, of an average pill dimension, or of a minimumpill dimension, or of a maximum pill dimension (e.g. one or more ofmaximum, minimum, average pill dimensions as defined in the textregarding step 416, FIG. 4B).

FIGS. 11A-11D are simplified schematics of a probe 1110 coupled topills, according to some embodiments of the invention.

FIGS. 12A-12B are simplified schematics of a probe coupled to pills,according to some embodiments of the invention.

In some embodiments, a pill couples (e.g. sufficiently couples for theprobe to extract the pill) to a probe opening when a minimum percentageof the probe opening is covered by the pill and/or when a minimumpercentage of a perimeter of the opening is in contact with the pillsurface. Where, in some embodiments, the minimum percentages are 10-95%,or 20-80%, or lower or higher or intermediate ranges or percentages.

In some embodiments, a strength of coupling of a pill to a probe tipdepends on an orientation of a pill with respect to the probe tip e.g.as illustrated in FIGS. 11A-C and FIGS. 12A-12B.

In some embodiments, a probe opening (e.g. probe tip) is configured toprovide a high level of contact between the suction provided at theopening and the pills to be extracted. For example, without sucking thepill into the probe e.g. beyond a maximum depth within the probe.

FIG. 13A is a simplified schematic of a probe 1310 with a mesh coveredtip 1258, according to some embodiments of the invention.

A potential advantage of a probe with a mesh covered tip is the abilityto couple a range of size of pills to the probe without the pills beingsucked into the probe.

A further potential advantage is the ability to extract more than onepill using the probe, at the same time. In some embodiments, a meshcovered tip is used in conjunction with a weight sensor, for dispensingof a desired number of pills. In some embodiments, an imager is used toprovide feedback as to whether a desired number of pills has beencoupled to the probe.

FIGS. 13B-13D are simplified schematic cross sections of a probe with amesh covered tip, coupled to pills, according to some embodiments of theinvention.

In some embodiments, one or more of FIGS. 13B-D show a cross section ofthe probe of FIG. 13A.

In some embodiments, a probe is configured to couple to a range ofdimensioned pills. For example, in some embodiments, a probe openingincludes a tapered inlet, pills entering into the probe opening, at adepth associated with dimensions of the pills.

FIG. 14 is a simplified schematic of a probe 1410 with a tapering inlet1460, according to some embodiments of the invention.

In some embodiments, a probe inlet includes flexible material, in someembodiments, flexibly at least partially matching a shape of the inletto the pill to be collected. Potentially improving coupling of the probeto the pill to be extracted.

FIG. 15 is a simplified schematic of a probe with probe tip enclosed bya low tension mesh, according to some embodiments of the invention.

In some embodiments, a probe is selected to match geometry of a pill tobe collected, for example, a cross section of an opening of a probe isselected based on the pill shape. For example, in some embodiments,ovalic shape pills are collected using a probe tip with ovalic crosssection, in some embodiments, spherical pills are collected using aprobe tip with circular cross section.

FIGS. 16A-16B are simplified schematics of coupling of a pill 1656 to aprobe 1610 with curved inlets 1660 at the probe tip, according to someembodiments of the invention. A potential advantage of a curved tip isbetter sealing between the pill 1556 and the probe tip, for example,when the curvature of the probe matches that of the pill.

In some embodiments, a single probe includes more than one suctionchannel. For example, for extraction of more than one pill at the sametime. For example, a single pill per suction channel.

FIG. 17 is a simplified schematic of a multi-channel probe 1710,according to some embodiments of the invention. In some embodiments,probe 1710 includes two or more suction channels 1770, 1772, forexample, 2-10, or 2-5, or lower or higher or intermediate numbers ofsuction channel.

In some embodiments, more than one probe is inserted into the container,for example, to extract more than one pill e.g. one or more pill perprobe.

General

It is expected that during the life of a patent maturing from thisapplication many relevant medication types, medication containers, andmedication dispensers will be developed and the scope of the termsmedication types, medication containers, and medication dispensers isintended to include all such new technologies a priori.

As used herein the term “about” refers to ±20%

The terms “comprises”, “comprising”, “includes”, “including”, “having”and their conjugates mean “including but not limited to”.

The term “consisting of” means “including and limited to”.

The term “consisting essentially of” means that the composition, methodor structure may include additional ingredients, steps and/or parts, butonly if the additional ingredients, steps and/or parts do not materiallyalter the basic and novel characteristics of the claimed composition,method or structure.

As used herein, the singular form “a”, “an” and “the” include pluralreferences unless the context clearly dictates otherwise. For example,the term “a compound” or “at least one compound” may include a pluralityof compounds, including mixtures thereof.

Throughout this application, various embodiments of this invention maybe presented in a range format. It should be understood that thedescription in range format is merely for convenience and brevity andshould not be construed as an inflexible limitation on the scope of theinvention. Accordingly, the description of a range should be consideredto have specifically disclosed all the possible subranges as well asindividual numerical values within that range. For example, descriptionof a range such as from 1 to 6 should be considered to have specificallydisclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numberswithin that range, for example, 1, 2, 3, 4, 5, and 6. This appliesregardless of the breadth of the range.

Whenever a numerical range is indicated herein, it is meant to includeany cited numeral (fractional or integral) within the indicated range.The phrases “ranging/ranges between” a first indicate number and asecond indicate number and “ranging/ranges from” a first, indicatenumber “to” a second indicate number are used herein interchangeably andare meant to include the first and second indicated numbers and all thefractional and integral numerals therebetween.

As used herein the term “method” refers to manners, means, techniquesand procedures for accomplishing a given task including, but not limitedto, those manners, means, techniques and procedures either known to, orreadily developed from known manners, means, techniques and proceduresby practitioners of the chemical, pharmacological, biological,biochemical and medical arts.

As used herein, the term “treating” includes abrogating, substantiallyinhibiting, slowing or reversing the progression of a condition,substantially ameliorating clinical or aesthetical symptoms of acondition or substantially preventing the appearance of clinical oraesthetical symptoms of a condition.

It is appreciated that certain features of the invention, which are, forclarity, described in the context of separate embodiments, may also beprovided in combination in a single embodiment. Conversely, variousfeatures of the invention, which are, for brevity, described in thecontext of a single embodiment, may also be provided separately or inany suitable subcombination or as suitable in any other describedembodiment of the invention. Certain features described in the contextof various embodiments are not to be considered essential features ofthose embodiments, unless the embodiment is inoperative without thoseelements.

Although the invention has been described in conjunction with specificembodiments thereof, it is evident that many alternatives, modificationsand variations will be apparent to those skilled in the art.Accordingly, it is intended to embrace all such alternatives,modifications and variations that fall within the spirit and broad scopeof the appended claims.

All publications, patents and patent applications mentioned in thisspecification are herein incorporated in their entirety by referenceinto the specification, to the same extent as if each individualpublication, patent or patent application was specifically andindividually indicated to be incorporated herein by reference. Inaddition, citation or identification of any reference in thisapplication shall not be construed as an admission that such referenceis available as prior art to the present invention. To the extent thatsection headings are used, they should not be construed as necessarilylimiting. In addition, any priority document(s) of this applicationis/are hereby incorporated herein by reference in its/their entirety.

It is the intent of the applicant(s) that all publications, patents andpatent applications referred to in this specification are to beincorporated in their entirety by reference into the specification, asif each individual publication, patent or patent application wasspecifically and individually noted when referenced that it is to beincorporated herein by reference. In addition, citation oridentification of any reference in this application shall not beconstrued as an admission that such reference is available as prior artto the present invention. To the extent that section headings are used,they should not be construed as necessarily limiting. In addition, anypriority document(s) of this application is/are hereby incorporatedherein by reference in its/their entirety.

What is claimed is:
 1. A method of dispensing medication from aplurality of medication containers, using a dispensing system forcollecting a medication dosage from a medication container and moving itinto a medication receptacle for dispensing, the method comprising:receiving a medication selection; selecting a medication container, fromsaid plurality of medication containers, based on said medicationselection; matching a collection protocol to be applied to saidmedication container including one or more parameter for control of saiddispensing system; and dispensing said medication selection from saidmedication container according to said collection protocol; wherein saidmethod further comprises receiving a weight measurement signal from atleast one weight sensor; and determining successful delivery of saidmedication selection into said medication receptacle based on saidweight measurement signal.
 2. The method according to claim 1, whereinsaid at least one weight sensor is located at said medicationreceptacle.
 3. The method according to claim 1, wherein said at leastone weight sensor is located at said medication container.
 4. The methodaccording to claim 1, wherein said dispensing system comprises a probe,said method comprising: inserting said probe into said selectedmedication container; and collecting said medication selection with saidprobe.
 5. The method according to claim 4, wherein said at least oneweight sensor is located at said probe.
 6. The method according to claim4, wherein said collecting comprises applying suction, according to saidcollection protocol.
 7. The method according to claim 6, wherein saidinserting comprises inserting said probe to an initial depth at aninitial position, said initial depth and said initial position accordingto said collection protocol.
 8. The method according to claim 6, whereinsaid collection protocol includes one more of: one or more parameterbased on medication data associated with said medication selection; andone or more parameter based on medication container data.
 9. The methodaccording to claim 8, wherein said medication data comprises a weight ofa pill of said medication selection; wherein said collection protocolcomprises a suction parameter based on said weight.
 10. The methodaccording to claim 8, wherein said medication data comprises a least onedimension of a pill of medication selection; and wherein said collectionprotocol comprises a movement parameter based on at least one dimension.11. The method according to claim 8, wherein said medication containerdata comprises at least one position within the container, of apreviously successful pill extraction; wherein said initial position isbased on said at least one position.
 12. The method according to claim8, comprising receiving a measurement signal; and determining a qualityof coupling of a pill to said probe, based on said measurement signal;changing at least one parameter of said collection protocol if saiddetermining indicates that quality of coupling is insufficient.
 13. Themethod according to claim 12, wherein said at least one parametercomprises a position of said probe in said medication container.
 14. Themethod according to claim 13, comprising: measuring a proximitymeasurement signal of proximity of an opening of said probe to a pill;and wherein said changing comprises moving said probe to a positionbased on said proximity measurement signal.
 15. The method according toclaim 14, wherein said proximity measurement signal is a visualmeasurement signal.
 16. The method according to claim 13, wherein saidinserting comprises inserting said a probe in a first direction intosaid medication container to an initial depth at an initial position ona plane perpendicular to said first direction; wherein said position isa position of said probe on said plane, said changing thereby changing aposition of said probe.
 17. The method according to claim 16, whereinsaid position is a step size in distance from said initial position,said step size depending on medication data and/or container data. 18.The method according to claim 15, wherein said medication data includesat least one pill dimension; wherein said container data includes one ormore historical successful extraction position.
 19. The method accordingto claim 12, comprising repeating said determining and said changinguntil said determining indicates that said quality is sufficient. 20.The method according to claim 19, comprising removing said probe andsaid pill from said medication container.
 21. The method according toclaim 19, comprising saving a position of said probe when said qualityis sufficient.
 22. The method according to claim 12, wherein saidchanging comprises changing a suction level, based on medication data.23. The method according to claim 22, wherein said medication dataincludes one or more of: a pill weight; historical successful suctionlevels.
 24. The method according to claim 12, wherein said determiningcomprises one or more of: receiving a probe suction level measurement;receiving a weight measurement of said medication container; andreceiving a weight measurement of said probe.
 25. The method accordingto claim 16, wherein said initial depth is based on a fullness level ofsaid medication container.
 26. The method according to claim 25, whereinsaid fullness is determined using one or more of: a value received froma memory; and a measurement signal comprising one or more of: a weightmeasurement; and a proximity detection measurement.
 27. The methodaccording to claim 16, wherein said inserting comprises selecting aprobe based on said pill property data.
 28. The method according toclaim 12, wherein said determining comprises: reducing suction for atime period; and comparing said measurement signal before said timeperiod and after said time period.
 29. The method according to claim 4,wherein said medication selection comprises a desired number of pills,said method comprising: receiving a measurement signal; determining anumber of pills coupled to said probe, based on said measurement signal;changing at least one parameter of said collection protocol if saiddetermining indicates that the number of pills coupled is less or morethan said desired number of pills.
 30. The method according to claim 29,wherein said determining comprises: reducing suction for a time period;and comparing said measurement signal before said time period and aftersaid time period.
 31. A dispensing system for collecting a medicationdosage from a medication container and moving it into a medicationreceptacle for dispensing, the system comprising: a suction source; aprobe connected to said suction source and configured to apply suctionfrom said suction source at a probe opening; one or more actuatorconfigured to move said probe to said medication container and intosufficient proximity to said medication dose to couple said medicationdose to said probe under said suction at said probe opening; areceptacle carrier comprising at least one medication receptacle; saidreceptacle carrier comprising at least one weight sensor configured formeasuring a weight of said at least one medication receptacle fordetermining a successful delivery of said medication dosage into saidmedication receptacle based on a weight measurement signal.
 32. Thedispensing system according to claim 31, wherein said at least oneweight sensor is located at said medication receptacle.
 33. Thedispensing system according to claim 31, wherein said at least oneweight sensor is located at said medication container.
 34. Thedispensing system according to claim 31, wherein said determiningcomprises measuring a weight of said at least one medication receptaclefor determining that a correct medication dosage was delivered to saidmedication receptacle according to a weight of said medication dosage.35. The dispensing system of claim 34, wherein said one or more actuatoris configured to move said probe into said medication container.
 36. Thedispensing system of claim 35, wherein said one or more actuator isconfigured to move said probe within said medication container.